• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
• /
• pp.1073-1087
• /
• 1993

Many investigations have been carried out concerning tillage tool performance, including energy requirement . Since the performance of tillage could also be evaluated through the change of soil , then it is necessary to investigate the soil cutting process and the pattern of soil failure. This study was conducted using indoor soil bin, STILT (Soil Tillage Tool Interaction) system. The result shows that the soil bin experiments could provide the clear understandings about phenomena of soil failure. The movement of sil , the successive failures was clearly visualized. The relations between the horizontal and vertical forces to the linear motion blade, the shear force on the shear plane which devides soil layer into several segments were indicated by the fluctuation/vibration of the recorded resistance and forces. The results show that the horizontal force(Fx) and vertical force (Fz) develope their frequencies as the change of velocity of blade (10, 20, 40 mm/sec) for each cutting angle (35, 45, 60 degrees). Resultant force of Fx and Fz are much influenced by the cutting angle.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
• /
• pp.1053-1062
• /
• 1993

The effect of loading speed on soil failure was studied by using a high speed triaxial compression test. Tests were conducted at 0.35-6.2m/s loading speed to compress soil specimens of sandy loam at different moisture contents. The axial stress at fracture increased with increase in loading speed up to certain critical speeds, however they decreased as the speed up to certain critical speeds, however they decreased as the speed increased further. Experiments were also conducted in the field of sandy loam soil with the vibrating tillage tool. Tests were done at 0.33-0.85m/s tractor speed oscillating frequency 13.7hz and oscillating amplitude 59mm. The maximum oscillating velocity of tillage tool was 2.5m/s. It was observed that for the oscillating operation, initially draft slightly increased with increase in forward speed and then it decreased .For the non-oscillating operation, draft increased continuously with increase in forward speed. Approach of studying soil failure in the laboratory test can be related to the field experiments.

• 드라이브 ㆍ 컨트롤
• /
• 제10권2호
• /
• pp.30-36
• /
• 2013

Tractor is a farm vehicle that is designed to provide a high tractive effort at low speed. It is used for versatile agricultural tasks such as hauling a trailer, tillage, mowing and construction work. Most older tractors use a manual transmission. However, as the intensity of work increases, tractors equipped with automatic transmission become popular due to the work convenience. In order to give the operator a large degree of control in field work, 24 gears with automatic 8-speed and manual 3-speed are arranged in transmission. This paper deals with the gear train that is designed for 8-speed automatic transmission by the engagement of multi-disk clutches. The gear ratio for each speed as well as power transmission mechanism is analyzed through velocity analysis. In addition, constraints of mesh gear ratio are derived by investigating the power flow path in velocity diagram for the given 8-speed gear ratio.

• Current Research on Agriculture and Life Sciences
• /
• 제4권
• /
• pp.95-101
• /
• 1986

진동경운(振動耕耘)에 있어서 경운저항(耕耘抵抗) 및 동력(動力)을 최소(最小)로 하는 Computer에 의한 자동제어(自動制御) 시스템의 개발(開發)을 목적(目的)으로 3가지 Mode의 제어(制御) program을 작성(作成)하여 실험(實驗)과 Simulation을 통(通)하여 각 Mode의 제어성능(制御性能)을 조사(調査)하였다. 진동속도비(振動速度比)를 일정(一定)(1.5)하게 한 경우 3가지 Mode 모두 동일(同一) 진동조건(振動條件)에 수렴하였다. 그러나 흙의 전단주파수(剪斷周波數)에 Blade의 진동수(振動數)를 match 시키는 방법 즉 흙의 전단주파수(剪斷周波數)의 2배의 진동수(振動數)로 Blade를 진동(振動)시키는 제어(制御) Mode가 수렴 시간이 짧고, 견인저항 및 동력의 최적치(最適値)에 가장 가까웠다. 또 경심(耕深) 및 토양수분(土壤水分)의 변화(變化)와 같은 외란(外亂)에 대한 견인저항 감소율의 변동(變動)은 10%이하(以下)로 적었다. 이상(以上)과 같이 흙의 전단주파수(剪斷周波數)에 Blade의 진동수(振動數)를 match 시키는 제어(制御) Mode의 제어성능(制御性能)이 가장 우수함을 알았다.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
• /
• pp.1043-1052
• /
• 1993

Field experiments were conducted to determine the optimum combination of performance parameters of a single-shank, tractor-mounted oscillating subsoiler. Tests were conducted at frequencies of oscillation of 3.7 , 5.67, 7.58, 9.48 and 11.456Hz ; amplitudes of 18, 21, 23.5, 34 and 36.5 mm ; and forward speeds of 1.84, 2.19 and 3.42 kmph at moisture content close to the plastic limit of the soil. It was observed that there was a reduction in average draft but an a increase in average total power requirement for oscillating than non-oscillating subsoiling. The draft and power ratios were significantly affected by the forward speed, frequency and amplitude. Their combined interaction expressed in terms of the velocity ratio parameter( the ratio of peak tool velocity and forward speed) however has the strongest influence. At the same velocity ratio, the draft reduction and power increase were less at higher amplitude of oscillation . As the oscillating frequency is increased toward the soil resonance the draft requirement becomes less. For the field conditions tested. the optimum operation was obtained at an amplitude of 36.5mm, frequency of 9.48Hz and speed of 2.19 kmph with a draft ratio of 0.33 and a power ratio of only 1.24.

• 로봇학회논문지
• /
• 제15권3호
• /
• pp.233-239
• /
• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• Journal of Biosystems Engineering
• /
• 제3권1호
• /
• pp.1-19
• /
• 1978

Power tiller is a major unit of agricultural machinery being used on farms in Korea. About 180.000 units are introduced by 1977 and the demand for power tiller is continuously increasing as the farm mechanization progress. Major farming operations done by power tiller are the tillage, pumping, spraying, threshing, and hauling by exchanging the corresponding implements. In addition to their use on a relatively mild slope ground at present, it is also expected that many of power tillers could be operated on much inclined land to be developed by upland enlargement programmed. Therefore, research should be undertaken to solve many problems related to an effective untilization of power tillers on slope ground. The major objective of this study was to find out the travelling and tractive characteristics of power tillers being operated on general slope ground.In order to find out the critical travelling velocity and stability limit of slope ground for the side sliding and the dynamic side overturn of the tiller and tiller-trailer system, the mathematical model was developed based on a simplified physical model. The results analyzed through the model may be summarized as follows; (1) In case of no collision with an obstacle on ground, the equation of the dynamic side overturn developed was: $$\sum_n^{i=1}W_ia_s(cos\alpha cos\phi-{\frac {C_1V^2sin\phi}{gRcos\beta})-I_{AB}\frac {v^2}{Rr}}=0$$ In case of collision with an obstacle on ground, the equation was: $$\sum_n^{i=1}W_ia_s\{cos\alpha(1-sin\phi_1)-{\frac {C_1V^2sin\phi}{gRcos\beta}\}-\frac {1}{2}I_{TP} \( {\frac {2kV_2} {d_1+d_2}\)-I_{AB}{\frac{V^2}{Rr}} \( \frac {\pi}{2}-\frac {\pi}{180}\phi_2 \} = 0 $$ (2) As the angle of steering direction was increased, the critical travelling veloc\ulcornerities of side sliding and dynamic side overturn were decreased. (3) The critical travelling velocity was influenced by both the side slope angle .and the direct angle. In case of no collision with an obstacle, the critical velocity $V_c$ was 2.76-4.83m/sec at $\alpha=0^\circ$, $\beta=20^\circ$ ; and in case of collision with an obstacle, the critical velocity $V_{cc}$ was 1.39-1.5m/sec at $\alpha=0^\circ$, $\beta=20^\circ$ (4) In case of no collision with an obstacle, the dynamic side overturn was stimu\ulcornerlated by the carrying load but in case of collision with an obstacle, the danger of the dynamic side overturn was decreased by the carrying load. (5) When the system travels downward with the first set of high speed the limit {)f slope angle of side sliding was $\beta=5^\circ-10^\circ$ and when travels upward with the first set of high speed, the limit of angle of side sliding was $\beta=10^\circ-17.4^\circ$ (6) In case of running downward with the first set of high speed and collision with an obstacle, the limit of slope angle of the dynamic side overturn was = $12^\circ-17^\circ$ and in case of running upward with the first set of high speed and collision <>f upper wheels with an obstacle, the limit of slope angle of dynamic side overturn collision of upper wheels against an obstacle was $\beta=22^\circ-33^\circ$ at $\alpha=0^\circ -17.4^\circ$, respectively. (7) In case of running up and downward with the first set of high speed and no collision with an obstacle, the limit of slope angle of dynamic side overturn was $\beta=30^\circ-35^\circ$ (8) When the power tiller without implement attached travels up and down on the general slope ground with first set of high speed, the limit of slope angle of dynamic side overturn was $\beta=32^\circ-39^\circ$ in case of no collision with an obstacle, and $\beta=11^\circ-22^\circ$ in case of collision with an obstacle, respectively.

• 농업과학연구
• /
• 제5권2호
• /
• pp.127-135
• /
• 1978

경운장치(耕耘裝置)의 재량(改良)과 새로운 경운장치(耕耘裝置)의 설계(設計)를 위(爲)한 실험(實驗)을 실내(室內)에서 실시(實施)하기 위하여 Soil bin과 자연토양(自然土壤)과 유사(類似)한 39.35%의 bentonite, 48.10의 모래 및 12.55%의 SAE 10W oil을 사용한 인공토양(人工土壤)을 제조(製造)하였으며 경운실험(耕耘實驗)을 위(爲)한 인공토양(人工土壤)의 물리적(物理的)인 특성(特性)을 구명(究明)하기 위해 전압회수(轉壓回數), 전압속도등(轉壓速度等)을 변화(變化)시켜 가면서 인공토양(人工土壤)의 절대경도(絶對硬度), 밀도(密度), 인공토양(人工土壤)과 철판(鐵板) 및 고무판(板) 및 고무판(板)의 동마찰계수(動摩擦係數)를 측정(測定)하였으며 인공토양(人工土壤)의 밀도변화(密度變化)에 따른 점착력(粘着力)과 내부마찰각(內部摩擦角)의 변화(變化)를 조사(調査)한 결과(結果)를 요약(要約)하면 다음과 같다. 1. 전압회수(轉壓回數)가 증가(增加)할수록 밀도(密度)는 증가(增加)하였으며 그 관계식(關係式)은 다음과 같다. $y=1.073200+0.070780x-0.002263x^2$ 여기서, y : 밀도(密度)($g/cm^3$) x : 전압회수(轉壓回數) 전압속도(轉壓速度) 4.5~10.4 cm/sec의 범위(範圍)에서 전압속도(轉壓速度)는 밀도(密度)에 큰 영향(影響)을 주지 않았다. 2. 토양절대경도(土壤絶對硬度)는 전압속도(轉壓速度) 4.5~10.4cm/sec의 변화(變化)에 거의 영향(影響)을 받지 않았으며 토양절대경도(土壤絶對硬度)(y)는 전압회수(轉壓回數)(x)의 증가(增加)에 대(對)하여 곡선적(曲線的)으로 증가(增加)하였는데 그들 관계식(關係式)은 다음과 같다. $y=37.74{\frac{(0.64 +0.17x-0.0054x^2}{(3.36-0.17x-0.0054x^2)^3}}$ 3. 밀도(密度)(Bulk density : y($g/cm^3$))와 토양절대경도(土壤絶對硬度)(absolute soil hardness : x($kg/cm^3$))의 관계식(關係式)은 다음과 같다. $y=37.74{\frac{2.46x-2.02}{(6.02-2.46x)^3}$ 4. 밀도(密度)의 변화(變化)는 점착력(粘着力)과 내부마찰각(內部摩擦角)에 영향(影響)을 주는데 밀도(密度)가 1.60~1.75에서 함수비(含水比) 29.5%인 자연토양(自然土壤)의 사질(砂質)loam과 유사(類似)한 값을 나타내었다. 5. 동마찰계수(動摩擦係數)는 철판(鐵板)의 경우 0.3~0.4, 고무판(板)의 경우 0.64~0.72로 나타났으며 자연토양(自然土壤)에서의 값과 유사(類似)하다.